Lunar Worthy Embedded Systems Red Whittaker Carnegie Mellon - PowerPoint PPT Presentation

Lunar ‐ Worthy Embedded Systems Red Whittaker Carnegie Mellon University 1

Exascale Atom InertiaDot 2 SSD

Embedded Systems in Motion

Single Cores

5 25 Years of I ntel I nside

Early Motivation was Hazard

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9 8086 with interprocessor comm

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11 Robots at Work

286 Boards

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14 The Need for Speed

15 Perception

Planning

17 GPS and Communication Denial

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Why Grand Challenges? Grand Challenges •Raise all ships •Transform belief •Create Enterprise •Discover 21

22 Kasparov defeated by Computer

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24 Urban Driving with multi-cores

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Prize: Land Drive Send TV Bonus prizes: Travel 5 km Visit Apollo Survive night Find Water 26

Mission Fairing First Stage Separation Separation De ‐ orbit and Braking Launch Descent Trans ‐ Lunar Injection Earth Orbit Lunar Orbit Lunar Orbit Insertion Second Stage Separation

Spacecraft Wet Mass: 2000kg Surface Mass: 672kg Rover: 60kg Auxiliary payload: ~100kg 2.6m (D) x 2.9m (H) Six OX/Methane thrusters Monopropellant attitude control

Sensors • 2 Sun Sensors • 2 Earth Sensors • Star Tracker • Inertial Measurement Unit • Radar Altimeter 30

Sensors • 2 Sun Sensors • 2 Earth Sensors • Star Tracker • Inertial Measurement Unit • Radar Altimeter 31

Sensors • 2 Sun Sensors • 2 Earth Sensors • Star Tracker • Inertial Measurement Unit • Radar Altimeter 32

Sensors • 2 Sun Sensors • 2 Earth Sensors • Star Tracker • Inertial Measurement Unit • Radar Altimeter 33

Sensors • 2 Sun Sensors • 2 Earth Sensors • Star Tracker • Inertial Measurement Unit • Radar Altimeter 34

Rover • Mass: 60kg • 120W Solar Array • 273Wh Battery • Chain ‐ Driven four ‐ wheel drive • Skid Steering • Motorized Actuators: – 2 drive – 2 mast pan/tilt – 3 Zoom Camera 35

Mobility • Actuators: – Brushless motor – Planetary primary gearing – Harmonic final drive • 4 Wheel Chain Drive • Speed: 5 cm/s • Skid Steering • Body Differencing 36

Wheels 37

Hot and Cold Thermal Regulation Freeze-tolerant Batteries 38

Cameras • Two HD Stereo cameras • One HD Telephoto Camera – Zoom – Focus – Iris • Pan & Tilt 39

Communication • Bandwidth – Primary: 40 kbps – Secondary: 1.0 Mbps • Frequency: S ‐ Band • Antenna: Evolved • Transmitter Power: 35 watts • RF power out: 10 watts 40

Elevation Power 41 h t u m i z A Power

Solid State Drive • Memory essential for HD Video store/forward • Tolerates shock • Tolerates vacuum • Corrects for error • Endures cold

ATOM Processor endures cold

44 World’s Smallest 6-Axis Motion Sensor I nertiaDot

Molecule M ulti-Atom O peration for L ong-term E ndurance of C omputing U nder L unar E xtremes

Exascale and RTOS 46

Testing • Electronics thermal, shock, vacuum and radiation • Software and system • Communication bandwidth, delay and teleoperation • Mission rehearsals 47

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49 49 ExascaleE Atome SSDSolid State Drive I I I nertiaDot ot

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